Abstract
This note describes a logic-based hybrid controller for the well-studied nonholonomic integrator. Our controller provides Lyapunov stability and is designed so that the control signals remain uniformly bounded and have at most a finite number of discontinuities in any finite interval. In particular, no 'chattering' occurs. Two alternative controllers, which use only partial state information, are also presented.
| Original language | English (US) |
|---|---|
| Pages | 85-89 |
| Number of pages | 5 |
| Volume | 9 |
| No | 2 |
| Specialist publication | Controle and Automacao |
| State | Published - May 1998 |
| Externally published | Yes |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering